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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(turtlesim)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
include_directories(include ${Qt5Widgets_INCLUDE_DIRS})
rosidl_generate_interfaces(${PROJECT_NAME}
"action/RotateAbsolute.action"
"msg/Color.msg"
"msg/Pose.msg"
"srv/Kill.srv"
"srv/SetPen.srv"
"srv/Spawn.srv"
"srv/TeleportAbsolute.srv"
"srv/TeleportRelative.srv")
set(dependencies "ament_index_cpp" "geometry_msgs" "rclcpp" "rclcpp_action" "std_msgs" "std_srvs")
set(turtlesim_node_SRCS
src/turtlesim.cpp
src/turtle.cpp
src/turtle_frame.cpp
)
set(turtlesim_node_HDRS
include/turtlesim/turtle_frame.h
)
qt5_wrap_cpp(turtlesim_node_MOCS ${turtlesim_node_HDRS})
rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
add_executable(turtlesim_node ${turtlesim_node_SRCS} ${turtlesim_node_MOCS})
target_link_libraries(turtlesim_node Qt5::Widgets)
ament_target_dependencies(turtlesim_node ${dependencies})
target_link_libraries(turtlesim_node "${cpp_typesupport_target}")
add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
ament_target_dependencies(turtle_teleop_key ${dependencies})
target_link_libraries(turtle_teleop_key "${cpp_typesupport_target}")
add_executable(draw_square tutorials/draw_square.cpp)
ament_target_dependencies(draw_square ${dependencies})
target_link_libraries(draw_square "${cpp_typesupport_target}")
add_executable(mimic tutorials/mimic.cpp)
ament_target_dependencies(mimic ${dependencies})
target_link_libraries(mimic "${cpp_typesupport_target}")
install(TARGETS turtlesim_node turtle_teleop_key draw_square mimic
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY images
DESTINATION share/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.png" PATTERN "*.svg")
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME})
ament_package()